Recently, some manned moon base projects have been considered in Japan and other countries for the next mission of the International Space Station. Space robots, especially humanoid robots, are expected to play an important role in cooperating with the astronauts for lunar exploration in future space projects. This research investigates the effect of gravity on bipedal robot motion, for example, walking, running, and jumping, from the viewpoint of energy consumption using dynamic simulations. In these simulations, the central pattern generator (CPG) was used to control a space robot, because CPG can easily generate both walking and running motions by changing some parameters in the CPG models. In this research, the motion of a humanoid robot with low moving speed used in the rooms of the moon base is investigated. By considering the amplitude of joint torque during robot motions, the optimal motion form of a robot is shown. A robot can easily do precise control of about 10% of walking torque on the earth. So walking is an optimal motion because of small torque and energy saving, unlike an astronaut jumping on the surface of the moon.
Control of Optimal Motion Form of a Bipedal Space Robot Used in the Moon Base by Neural Oscillators
Vibration Engineering for a Sustainable Future ; Kapitel : 40 ; 301-308
2021-04-26
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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